Touch sensing costume for intelligent robot
An intelligent robot and tactile sensing technology are applied in the testing of machines/structural components, measuring devices, and the measurement of properties and forces using piezoresistive materials. It can solve the problems of high cost and poor flexibility of tactile sensitive units, and achieve The effect of low cost, good flexibility and high test sensitivity
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Embodiment 1
[0018] This example is on the basis of the general description of the specific embodiments, and further exemplifies the making of the thin film electrode plate and the conductive rubber 20 material (refer to figure 2 , 3 , 4). In this example, the thin film electrode plate is to print silver paste on one side of the PB plastic film to form the corresponding determinant array electrode contacts (in view of the specific process of printing silver paste is a known and common technology, so in this example not further described). The conductive particles in the conductive rubber 20 of this example are glass balls plated with silver. Apparently, the conductive particles in the conductive rubber 20 can also be aluminum-plated silver or carbon black-selected according to material sources and / or other requirements.
Embodiment 2
[0020] This part is based on the general description of the specific implementation or embodiment 1, the introduction of the geometric shape and further characteristics of the conductive rubber 20 and the insulating film spacer 23 (refer to figure 1 , 4 ). Specifically, each piece of conductive rubber 20 is a round cake shape, and the holes 231 that cover them on the insulating film spacer 23 are circular holes. 23 are all pressed to the thinnest, the gap that still can not scratch between the two. That is to say, when the conductive rubber 20 is under pressure, the amount of compression that causes the change of its resistance value will not be disturbed by the insulating film spacer 23, which increases the accuracy and reliability of the present invention. At each electrode contact of the upper film electrode plate 3, there is a bubble 31 that is concave inward and protrudes outward on its opposite face (using a known hot-press bubble technology), and the depth of the elec...
Embodiment 3
[0024] This example is on the basis of the general description of specific embodiments, embodiment 1 or embodiment 2, in order to improve durability of the present invention and further improve reliability figure 1 , 4). Its material is respectively the protective layer (this example uses waterproof cloth) of tarpaulin, plastic film or rubber skin on the outside of two film electrode plates (2,3) up and down. The lower protective layer 1, the lower thin-film electrode plate 2, the insulating film spacer 23, the upper thin-film electrode plate 3 and the upper protective layer 4 are pasted together by flexible glue in sequence. The flexible glue refers to the glue that still has a certain degree of flexibility after the glue is cured and coagulated (such as glue such as neoprene). In this way, it is ensured that the tactile sensing clothing of the intelligent robot has a certain softness. In this example, the conductive rubber 20 is pasted on each electrode contact of the low...
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Abstract
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